1. Laser Range Data: Experiments, Data Analysis, and Mathematical Models Ann Lee, Jinggang Huang, David Mumford Dept. of Applied Math Brown University

2. The Range Finder Riegl LMS-Z210 Consists of an electro-optical rangefinder module, and a two-axis scanning mechanism

3. Rangefinder Module Principle: Time-of-flight measurement of short laser pulses in the near infrared region (900 nm) Measurement range: 2-300 m Accuracy: ± 2.5 cm Beam divergence: 3 mrad (0.17 deg)

4. Scanner Mechanism Vertical scan –Mechanism: rotating mirror –Range: ±40 deg (80 deg total) Horizontal scan –Mechanism: motor-driven head –Range: 340 deg total

5. Range Image Database 197 range images total: –Woods (54) –Residential (69) –Interior (49) –Others (25) Each image contains 444-by-1440 measurements, with an angular sep. of 0.18 deg. Field of view of 80 deg vertically, and 259 deg horizontally Goal: To gather a variety of natural scenes with clutter